JP2006296697A - Cleaning robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a cleaning robot which can prevent a short circuit due to sticking of liquid or the like. <P>SOLUTION: The cleaning robot self-traveling on a floor is provided with: a traveling assembly 1 having a driving wheel which is rotated by driving of a first motor; and a dust collection assembly 50 for collecting dust sucked through a nozzle 20 by rotating a blower by driving of a second motor. A power source part for supplying power to the first motor is mounted to the traveling assembly 1, and the dust collection assembly 50 is freely attachably and detachably provided on the traveling assembly 1. The traveling assembly 1 and the dust collection assembly 50 have connectors 41 and 52 connected with each other for supplying power to the second motor, wherein the first connector 41 is provided at a position above a bottom surface 4a. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a cleaning robot for cleaning a floor surface.

The self-propelled cleaning robot of Patent Document 1 includes a traveling assembly having wheels and a working assembly that is detachable from the traveling assembly. The traveling assembly and the working assembly are electrically connected via a connector.
The automatic guided vehicle of patent document 2 has electrically connected the base provided in this automatic guided vehicle, and the transfer apparatus via the connector.
WO2004 / 043215 A1 (Summary) JP-A-5-221516 (FIGS. 2 and 3)

In the cleaning robot, when a dust collection assembly that collects dust by suction and a travel assembly that travels the robot are provided separately, a connector that electrically connects the dust collection assembly and the travel assembly is provided. Since the cleaning robot may be exposed to rain or various liquids, the connector needs to have a waterproof structure to prevent leakage. In particular, the dust collecting assembly may be detachable from the traveling assembly, and instead of the dust collecting assembly, it may be possible to mount a liquid handling material such as a wax can, so the liquid agent is introduced into the traveling assembly from the upper surface mounting portion of the traveling assembly. It is necessary to make it waterproof so that it will not flow. Moreover, it is necessary to make the connector portion have a structure that does not leak due to the liquid.
Therefore, in the first aspect of the present invention, the connecting portion between the traveling assembly and the dust collecting assembly is disposed at a position higher than the bottom surface of the mounting recess on the upper surface of the traveling assembly.

Here, it is preferable that the case of the dust collecting assembly has a detachable structure that can be removed upward. This is because the dust collecting assembly can be removed upward and the dust accumulated in the dust collecting case can be discarded. Moreover, it is preferable that the filter for cleaning the exhaust air has a detachable structure that can be replaced from the lower surface of the removed dust collecting assembly.
Therefore, in order to obtain such a structure, it is necessary to exhaust the exhaust air from below the dust collecting assembly.

However, as described above, in the structure in which the dust collection assembly is fitted into the mounting recess on the upper surface of the traveling assembly, it is difficult to handle the exhaust air from the dust collection assembly.
Therefore, in the second invention, a plurality of grooves are formed so that the exhaust air exhausted from the lower surface of the dust collecting assembly can be exhausted to the outside through the exhaust passage.
Further, if the exhaust passage is constituted by a plurality of grooves, the air can be exhausted at a low wind pressure.

  By the way, the wheel of the traveling assembly has grooves and irregularities formed on the wheel surface so as to grip the floor surface. Therefore, when traveling on a dirty floor surface, there is a problem that dust or the like fits into a groove or an uneven portion on the wheel surface and the grip force with the floor surface is reduced. Moreover, when a hard solid substance adheres to a wheel on the floor surface such as flooring, the vehicle travels while damaging the floor surface. Therefore, it is preferable to run the wheel surface while always cleaning it with a brush or the like.

Further, when traveling on a carpet with long bristle feet, the load of the cleaning robot is applied to the floor surface via the wheels, so the traveling trace of the wheels remains on the carpet, and the appearance after cleaning deteriorates.
Therefore, it is preferable that a rotating brush is disposed immediately behind the traveling wheel to travel while raising the hair of the crushed carpet. The cleaning robot is provided with a first rotating brush for lifting dust that sticks to the floor surface on the nozzle. However, the wheel marks on the carpet cannot be erased with the power of the rotating brush.

  Therefore, in the third aspect of the invention, the rotary brush for cleaning the dust adhering to the surface of the running wheel and the second rotary brush for erasing the wheel running trace such as a carpet are provided. The second rotating brush may be rotated by being driven by a traveling wheel, or may be rotated by a separate drive motor. However, in order to effectively remove dirt such as dust adhering to the traveling wheel, it is preferable to set the circumferential speed of the traveling wheel and the rotating brush to be different.

Example 1:
Embodiments of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, the cleaning robot includes a traveling assembly 1 having drive wheels 6a and 6b for self-propelling on the floor, a nozzle assembly 2 having a nozzle 20 for sucking dust on the floor, and A dust collection assembly (dust collection unit) 50 that collects dust sucked by the nozzle 20 is provided.

Travel assembly 1:
As shown in FIGS. 1A and 1B, the traveling assembly 1 includes a pair of drive wheels 6 a and 6 b for traveling the traveling assembly 1, and auxiliary wheels 9 a and 9 b for balancing the traveling assembly 1. I have. The drive wheels 6a and 6b are driven by first motors (traveling motors) 5a and 5b, respectively. The traveling assembly 1 is equipped with a power supply unit for supplying electric power to each electric component including the first motors 5a and 5b and a second motor 62 described later. The first motors 5a and 5b can rotate forward and backward, and are controlled by, for example, a control means 8 comprising a microcomputer.

  During straight traveling, the traveling assembly 1 can move forward or backward by rotating the two first motors 5a and 5b in the same direction. When performing the turning operation, the two first motors 5a and 5b can turn by rotating in the opposite directions. By controlling the ratio of rotation of the two first motors 5a and 5b, the traveling assembly 1 can also perform curve traveling.

  As shown in FIG. 1A, a plurality of ultrasonic sensors 3 and a plurality of optical sensors 17 are provided at the front portion of the traveling assembly 1. Of these sensors, the two ultrasonic sensors 3 transmit distance signals to obstacles on the left and right of the traveling assembly 1 to the control means 8. On the other hand, the remaining ultrasonic sensor 3 and optical sensor 17 transmit a distance signal to an obstacle ahead of the traveling assembly 1 to the control means 8. The ultrasonic sensor 3 and the optical sensor 17 are provided separately from each other in the width direction X of the traveling assembly 1.

  A bumper sensor 10 for detecting contact with an obstacle is provided on the front outer edge of the traveling assembly 1. In the vicinity of the rotation center O, a gyro sensor (orientation sensor) 7 for measuring the rotation angle (azimuth) of the traveling assembly 1 around the rotation center O is provided.

A mounting plate 11 for mounting the nozzle assembly 2 is provided at the rear of the traveling assembly 1. As shown in FIG. 1A, the mounting plate 11 is attached to a slide rail 14 and connected to a slide drive motor 15 through a timing belt and a pulley. The mounting plate 11 is slid in the left-right direction along the slide rail 14 by the slide drive motor 15.
A front portion of the nozzle assembly 2 shown in FIG. 2 is attached to the mounting plate 11, and the nozzle assembly 2 can be moved relative to the traveling assembly 1 in the horizontal direction X to the left and right as required. .

Nozzle assembly 2:
As shown in FIG. 2, a dust collection assembly 50 is mounted on the traveling assembly 1, and the nozzle assembly 2 and the dust collection assembly 50 are connected via a suction hose 51. The nozzle 20 is provided on the lower surface of the nozzle assembly 2. When the cleaning operation is performed while the cleaning robot is running, floor dust is sucked up from the nozzle 20 one after another and the floor surface is cleaned. .

  In addition, about the more detailed apparatus structure of this robot, the liquid application traveling apparatus of Unexamined-Japanese-Patent No. 2003-10088 can be employ | adopted, for example.

Control means 8:
As shown in FIG. 3, the control means 8 provided in the traveling assembly 1 includes a CPU (calculation means) 30 and a memory 40. The ultrasonic sensor 3, the bumper sensor 10, and the optical sensor 17 are connected to the control means 8 via an interface (not shown). The ultrasonic sensor 3, the bumper sensor 10, and the optical sensor 17 constitute an obstacle detection unit that detects the presence or absence of an obstacle in the traveling direction.

The CPU 30 is provided with a distance measuring unit 31, a determining unit 32, a travel control unit 33, a sensor control unit 34, and the like.
The CPU 30 reads out programs and threshold values stored in the memory 40 at any time corresponding to information from each device connected to the CPU 30 to control the travel control means 33, and to perform nozzle assembly 2 and dust collection. Various operations are performed on the assembly 50.

  The nozzle assembly 2 is provided with brush control means 20a and contact sensor control means 20b. The brush control means 20a controls the rotation of the first rotating brush 21 shown in FIG. The contact sensor control means 20b processes the contact signal from the contact sensor 22 shown in FIG.

  The dust collecting assembly 50 is provided with blower motor control means 50a. FIG. 7 is a longitudinal sectional view of the dust collecting assembly 50. As shown in FIG. 7, the dust collection assembly 50 is provided with, for example, a blower 60 made of a fan and a second motor (blower motor) 62 for rotating the blower 60. The blower motor control means 50a controls the driving of the second motor 62, rotates the blower 60, and collects dust from the nozzle 20 (FIG. 2) via the suction hose 51.

Dust collection assembly 50:
As shown in FIG. 4, the lower part 57d of the case 57 of the dust collecting assembly 50 is formed in a substantially cylindrical shape having a plurality of grooves 56b. On the other hand, the traveling assembly 1 has a mounting recess 4 having a bottom surface 4a and an inner surface 4b. In order to mount the dust collection assembly 50 on the traveling assembly 1, the lower portion 57 d of the case 57 of the dust collection assembly 50 is fitted into the circumferential surface of the mounting recess 4 as shown in FIG. 8. The outer surface 57 s of the lower portion 57 d of the dust collection assembly 50 shown in FIG. 4 is in contact with the inner surface 4 b that forms the circumferential surface of the mounting recess 4, and the dust collection assembly 50 is fixed to the traveling assembly 1.

Connectors 41 and 52:
When the dust collecting assembly 50 is mounted on the traveling assembly 1, the traveling assembly 1 is connected to the traveling assembly 1 via the first connector 41 provided on the traveling assembly 1 and the second connector 52 (FIG. 5) provided on the dust collecting assembly 50. The dust collecting assembly 50 is electrically connected to each other. By connecting the connectors 41 and 52, the power of the power supply unit of the traveling assembly 1 is supplied to the second motor 62 (FIG. 7).

  By the way, this cleaning robot can perform various cleaning operations by removing the dust collection assembly 50 and replacing it with another assembly. For example, instead of the dust collection assembly 50, a wax application device can be mounted. In such a case, liquid such as wax may spill. In addition, there is a risk of being exposed to various liquids, such as rain or being poured by a passerby. Therefore, in this cleaning robot, connectors 41 and 52 are formed as described below to prevent electric leakage.

The first connector 41 is provided at a position above the bottom surface 4 a of the mounting recess 4. The first connector 41 is provided in a pair of corner portions 43 formed in the mounting recess 4. A first terminal 41 a is disposed on each first connector 41.
On the other hand, as shown in FIG. 5, the case 57 of the dust collection assembly 50 is provided with a pair of protrusions 53 that fit into the corner portions 43, and the protrusions 53 are formed with second connectors 52. Yes. A second terminal 52 a is disposed on the second connector 52. The pair of second terminals 52 a are provided at two locations separated in the circumferential direction in the lower portion 57 d of the cylindrical case 57 of the dust collection assembly 50.

  The first terminal 41a in FIG. 4 is formed of a metal plate fixed toward the mounting recess 4. The second terminal 52a in FIG. 5 is formed of a metal plate having a spring property that is pressed toward the first terminal 41a. The second terminal 52a is formed in, for example, three comb shapes whose central portion is curved toward the first terminal 41a. Therefore, when the dust collecting assembly 50 of FIG. 4 is mounted on the traveling assembly 1, the protruding portion 53 is fitted into the corner portion 43, and the second terminal 52a and the first terminal 41a come into contact with each other. The first terminal 41 a and the second terminal 52 a are pressed against each other by the spring force of the second terminal 52 a, and the dust collection assembly 50 is fixed to the traveling assembly 1.

  Here, as described above, since the first connector 41 is provided at a position higher than the bottom surface 4a, when liquid such as rain or wax adheres to the robot, the liquid is mounted on the mounting recess 4. Leakage can be prevented by allowing it to flow inside.

On the other hand, a separation wall 45 is formed on the inner side surface 4 b of the mounting recess 4. The separation wall 45 separates the pair of first connectors 41 from each other, and is formed in a curved shape along the outer side surface 57 s of the columnar lower portion 57 d of the case 57 of the dust collection assembly 50.
As described above, since the first connectors 41 are separated from each other by the separation wall 45, the leakage can be further prevented.

  As shown in FIG. 5, a cover portion 54 is formed above the second connector 52 in the case 57 of the dust collection assembly 50. When the dust collecting assembly 50 is fitted into the mounting recess 4, the cover 54 covers the corner 43 from above and seals the first and second connectors 41 and 52 from above. Therefore, the liquid can be prevented from entering the connectors 41 and 52, and the leakage can be further prevented.

Exhaust passages 56a and 56b:
FIG. 6 is a perspective view of the dust collection assembly 50 as viewed from below.
As indicated by arrows in FIG. 6, the dust collection assembly 50 has an exhaust hole 55 for discharging air downward. A first exhaust passage 56 a that exhausts air from the exhaust hole 55 is formed between the lower surface of the dust collection assembly 50 and the bottom surface of the traveling assembly 1. That is, a first groove 56a surrounded by a bottom protrusion 57b of the case 57 indicated by a halftone dot in FIG. Therefore, the bottom protrusion 57b of the case 57 and the bottom surface 4a of the mounting recess 4 shown in FIG. 4 are in contact with each other, and a plurality of first exhaust passages 56a formed by gaps between the bottom of the case 57 and the bottom surface 4a of the mounting recess 4 Is formed.

On the other hand, on the outer surface 57s of the lower portion 57d of the case 57 of the dust collecting assembly 50 shown in FIG. 6, second grooves 56b that are continuous with the first grooves 56a are formed. Therefore, as shown in FIG. 7, a second exhaust passage 56 b is formed between the outer surface 57 s of the case 57 of the dust collection assembly 50 and the inner surface 4 b of the mounting recess 4.
Accordingly, the air from the exhaust hole 55 in FIG. 6 is exhausted upward from the second exhaust passage 56b through the first exhaust passage 56a as shown by the arrow.

  In this way, since air is exhausted upward, dust on the floor can be prevented from rising. Further, since it is not necessary to pass exhaust through the traveling assembly 1, the robot can be formed compactly. Furthermore, by forming the plurality of first and second exhaust passages 56a and 56b, the wind pressure of the exhaust can be lowered.

Filters 63-65:
As shown in FIG. 7, the dust collection assembly 50 includes first and second intake filters 63 and 64, a dust collection unit 66, the blower 60, a second motor 62, and an exhaust side filter 65. A cylinder 66 s is formed at the center of the dust collecting portion 66. A dust collection space 67 is formed between the outer periphery of the dust collection portion 66 and the cylinder 66s. On the other hand, an intake space 68 is formed in the cylinder 66s. The upper part of the cylinder 66s is sealed by the both intake filters 63 and 64. On the other hand, a blower 60 and a second motor 62 are fixed to the lower portion of the cylinder 66s.

When the blower 60 rotates, the air sucked from the suction hose 51 is introduced into the intake space 68 through the intake filters 63 and 64 while rotating around the intake filters 63 and 64 and the cylinder 66s as indicated by arrows. The Here, heavy dust falls into the dust collection space 67 and is collected in the dust collection space 67 without passing through the intake filters 63 and 64.
On the other hand, the air taken into the intake filters 63 and 64 is introduced into the intake space 68 after dust contained in the air is filtered by the intake filters 63 and 64.
The air in the intake space 68 is introduced into the lower exhaust side filter 65. The air is further filtered and purified by the exhaust filter 65, and then exhausted through the first and second exhaust passages 56a and 56b.

  Here, on the upper part of the case 57 of the dust collecting assembly 50 shown in FIG. As shown in FIG. 7, the lid portion 71 can be opened and closed around a rotation shaft 72. As described above, since the intake filters 63 and 64 are provided above the second motor 62 and the blower 60, the intake filters 63 and 64 can be removed from above by opening the lid 71. . Therefore, the intake filters 63 and 64 can be easily removed for cleaning and replacement. Further, the dust collecting part 66 can be removed upward, and the accumulated dust can be discarded.

On the other hand, the exhaust filter 65 is provided below the second motor 62 and the blower 60. Therefore, as shown in FIG. 6, after the dust collection assembly 50 is removed from the traveling assembly 1, the exhaust-side filter 65 can be removed from below the dust collection assembly 50.
In addition, after removing the exhaust side filter 65, the maintenance of an apparatus etc. can also be performed easily by removing the blower 60 and the 2nd motor 62 from the downward direction.

Rotating brushes 21 and 12:
As shown in FIG. 8, a first rotating brush 21 that contacts the floor surface while rotating is provided behind the nozzle 20 of the nozzle assembly 2. The first rotating brush 21 is rotationally driven by a motor (not shown) provided in the nozzle assembly 2. The motor is rotationally controlled by the brush control means 20a. The first rotating brush 21 is provided behind the nozzle 20 and is rotated in a direction opposite to the traveling direction of the robot. As the first rotating brush 21 rotates, dust on the floor surface is collected toward the nozzle 20.

As shown in FIG. 8, the second rotating brush 12 is provided in front of the nozzle 20 and at a position just behind the drive wheels 6a and 6b. The second rotating brush 12 is disposed in the traveling assembly 1 and is rotationally driven by a motor (not shown) mounted on the traveling assembly 1. The second rotating brush 12 is formed with a diameter larger than that of the first rotating brush 21, and the running traces of the drive wheels 6 a and 6 b can be erased by the rotation of the second rotating brush 12.
In particular, when the robot travels on a carpet or the like, it can travel while raising the carpet crushed by the drive wheels 6 a and 6 b by the first rotating brush 21.

  The second rotating brush 12 is in contact with the outer peripheral surface of the drive wheels 6a and 6b together with the floor surface. The second rotating brush 12 cleans the drive wheels 6a and 6b to scrape out foreign matter caught in the grooves of the drive wheels 6a and 6b, clean the surfaces of the drive wheels 6a and 6b, and improve the grip force of the floor surface. Prevent decline.

  In addition, it is preferable to rotate the rotation direction of the 1st rotation brush 21 in the same direction as the rotation direction of the drive wheels 6a and 6b. On the other hand, when the first rotating brush 21 is rotated in the opposite direction to the driving wheels 6a and 6b, the circumferential speed of the first rotating brush 21 and the circumferential speed of the driving wheels 6a and 6b are synchronized so as not to mesh with each other. It is preferable to set the peripheral speeds of the one-rotation brush 21 and the drive wheels 6a and 6b to different speeds.

  The present invention can be applied to a cleaning robot that performs a cleaning operation on a floor surface.

1A is a plan sectional view showing a traveling assembly of a cleaning robot according to a first embodiment of the present invention, and FIG. 1B is a side sectional view of the traveling assembly. It is a schematic perspective view of the cleaning robot. It is a schematic block diagram of the cleaning robot. It is a perspective view which shows the cleaning robot of the state which isolate | separated the dust collection assembly. It is a perspective view which shows the cleaning robot of the state which isolate | separated the dust collection assembly. It is a perspective view from the lower part of a dust collection assembly. 2 is a schematic longitudinal sectional view of a dust collection assembly 50. FIG. It is a schematic longitudinal cross-sectional view of this cleaning robot.

Explanation of symbols

1: Traveling assembly 2: Nozzle assembly 3: Ultrasonic sensor (obstacle detection means)
4: mounting recess 4a: bottom surface of mounting recess 4b: inner surface of mounting recess 5a, 5b: first motor 6a, 6b: driving wheel 10: bumper sensor (obstacle detection means)
17: Optical sensor (obstacle detection means)
20: Nozzle 41: 1st connector 41a: 1st terminal 43: Corner part 45: Separation wall 50: Dust collection assembly (dust collection part)
52: 2nd connector 52a: 2nd terminal 54: Cover part 55: Exhaust hole 56a: 1st exhaust passage 56b: 2nd exhaust passage 57: Case 57s: Outer surface of case 60: Blower 62: 2nd motor 63,64 : Intake filter 65: Exhaust side filter 67: Dust collection space

Claims (13)

A cleaning robot that runs on the floor,
A travel assembly having drive wheels that rotate by driving the first motor;
A nozzle that sucks in dust on the floor,
A dust collecting assembly for collecting dust collected by the nozzle by rotating a blower by driving a second motor;
The traveling assembly is equipped with obstacle detection means for detecting the presence or absence of an obstacle in the traveling direction, an orientation sensor for detecting the traveling direction, and a power supply unit for supplying power to the first motor,
The dust collecting assembly is detachably provided on the traveling assembly;
The traveling assembly has a mounting recess having a bottom surface and an inner surface, and the outer surface of the case of the dust collecting assembly is fitted into the circular side surface of the mounting recess.
The traveling assembly and the dust collecting assembly have first and second connectors connected to each other to supply power from the power supply unit to the second motor,
The cleaning robot, wherein the first connector is provided at a position above the bottom surface. In Claim 1, the 1st connector has a pair of 1st terminals,
The second connector has a pair of second terminals, and the pair of first terminals are provided at two locations separated in the circumferential direction of the mounting recess,
A cleaning robot in which the pair of second terminals are provided at two locations separated in the circumferential direction of the mounting recess. In Claim 2, a pair of corner parts in which the pair of first terminals are arranged is formed,
The corner portion is formed above the mounting recess in the traveling assembly, and allows liquid to flow toward the mounting recess,
A cleaning robot in which a separation wall that separates the pair of corner portions from each other is formed in the traveling assembly.   The cleaning robot according to claim 3, wherein a cover portion that covers the corner portion from above is formed in the dust collection assembly.   3. The metal plate according to claim 2, wherein the first connector and the second connector face each other, and at least one connector is formed of a spring plate so that one connector is pressed against the other connector. Cleaning robot. The dust collection assembly according to claim 4, further comprising an exhaust hole for exhausting air downward,
A first exhaust passage for exhausting air from the exhaust hole is formed between a lower surface of the dust collection assembly and a bottom surface of the traveling assembly,
A second exhaust passage is formed between the outer surface of the case of the dust collecting assembly and the inner surface of the mounting recess,
Accordingly, the cleaning robot can exhaust air from the exhaust hole upward from the second exhaust passage through the first exhaust passage. 5. The dust collection assembly according to claim 4, wherein the dust collection assembly is configured to filter dust contained in air sucked by the blower from the nozzle, a dust collection space for collecting dust filtered by the suction filter, and the suction air. An exhaust side filter that purifies the air that passes through the side filter and is exhausted from the exhaust hole,
Since the intake side filter is provided above the second motor and the blower, and the exhaust side filter is provided below the second motor and the blower, the intake side filter can be taken out from above. A cleaning robot in which the exhaust filter can be taken out from below. In claim 4, a first rotating brush that contacts the floor surface while rotating in the nozzle is provided,
A second rotating brush is provided at a position just behind the driving wheel and in front of the nozzle so as to erase the running trace of the driving wheel by contacting the floor surface while rotating. Cleaning robot. A cleaning robot that runs on the floor,
A travel assembly having drive wheels that rotate by driving the first motor;
A nozzle that sucks in dust on the floor,
A dust collecting assembly for collecting dust sucked by the nozzle,
The traveling assembly is mounted with obstacle detection means for detecting the presence or absence of an obstacle in the traveling direction, and an orientation sensor for detecting the traveling direction,
The dust collecting assembly is detachably provided on the traveling assembly;
A mounting recess having a bottom surface and an inner surface is formed in the traveling assembly, and an outer surface of the case of the dust collecting assembly is fitted into the inner surface on a circular side surface of the mounting recess.
The dust collection assembly has an exhaust hole for exhausting air below,
A first exhaust passage for exhausting air from the exhaust hole is formed between a lower surface of the dust collection assembly and a bottom surface of the traveling assembly,
A second exhaust passage is formed between the outer surface of the case of the dust collecting assembly and the inner surface of the mounting recess,
Accordingly, the cleaning robot can exhaust air from the exhaust hole upward from the second exhaust passage through the first exhaust passage.   The cleaning robot according to claim 8, wherein the first and second exhaust passages are configured by grooves formed in a case of the dust collection assembly. 9. The dust collection assembly according to claim 8, wherein the dust collection assembly is configured to filter dust contained in air sucked by the blower from the nozzle, a dust collection space for collecting dust filtered by the suction filter, and the suction air. An exhaust side filter that purifies the air that passes through the side filter and is exhausted from the exhaust hole,
Since the intake side filter is provided above the second motor and the blower, and the exhaust side filter is provided below the second motor and the blower, the intake side filter can be taken out from above. A cleaning robot in which the exhaust filter can be taken out from below. A cleaning robot that runs on the floor,
A drive wheel that rotates by driving the first motor;
A nozzle that sucks in dust on the floor,
A dust collecting part for collecting dust sucked by the nozzle;
Obstacle detection means for detecting the presence or absence of obstacles in the traveling direction;
An orientation sensor for detecting the traveling direction;
A first rotating brush that contacts the floor surface while rotating in the nozzle is provided,
A second rotating brush capable of erasing the running trace of the driving wheel by contacting the floor surface while rotating is provided at a position immediately behind the driving wheel and in front of the nozzle. Cleaning robot.   The cleaning robot according to claim 12, wherein the second rotating brush is also in contact with an outer peripheral surface of the driving wheel.

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